Estimating Time to Contact with Curves, avoiding Calibration and Aperture Problem
نویسندگان
چکیده
A set of simple time to contact estimators are derived, using isolated points or curve segments. For this purpose the use of both optic ow and optic acceleration is suggested. For curves it is pointed out, that there is no aperture problem present, since normal ow and acceleration of the curve segment is suucient for estimating time to contact. Time to contact with a curve segment may be calculated without calibrating camera focal length and camera coordinate system, without computing spatial velocity and depth maps and without computing the complete optic ow eld for the curve segment. Computational illustrations with actual camera data are reported.
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